In today's aging society special attention is devoted to the research of human balance control. Our research group focuses on understanding the control mechanism of the brain during balancing from an engineering point of view. The model of stick balancing is derived and the dynamical behaviour of the mechanical system is investigated numerically. The control force is modelled as a PD controller with predictor feedback without implementation uncertainty, which allows perfect delay compensation. However, the sensory dead zone of human perception is also accounted for in the model and thus, a delayed switching-type controller is applied. After deriving the mechanical model, numerical analysis is carried out in order to investigate the effect of time delay and the size of sensory dead zones.


Modelling Stick Balancing by Applying Switching-Type Control

Division / Sponsors: 
Design Engineering Division and Computers & Information In Engineering Division


Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2020/volume/83907

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